Changed _jacobian0plus[7] so use scaling factor #45
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Please link the separate issue that shows where the authors forgot to implement this change |
I didn't see the separate issue but it was mentioned to me by @Ryan-Red, who said that there were a few issues pertaining to this problem, of which the authors addressed, except for this one |
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Tested and didnt produce any noticeable improvements. |
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Note: Testing will be needed to ensure functionality
_jacobian0plus[7]is now multiplied by scaling factorsas reported in UZ-SLAMLab/ORB_SLAM3#191 (comment). It seems that this was also bought up in a separate issue and the authors forgot to add this change.